ray_integrator_core.hpp

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/*
 * SPDX-FileCopyrightText: 2020-2024 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2022-2024 Simon Boche
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_RAY_INTEGRATOR_CORE_HPP
#define SE_RAY_INTEGRATOR_CORE_HPP
 
#include <se/map/octant/octant.hpp>
 
namespace se {
 
namespace ray_integrator {
 
template<typename DataT, typename ConfigT>
bool update_voxel(DataT& data,
                  const float range_diff,
                  const float tau,
                  const float three_sigma,
                  const ConfigT config);
 
template<typename DataT, typename ConfigT>
bool free_voxel(DataT& voxel_data, const ConfigT config);
 
template<typename NodeT, typename BlockT>
typename NodeT::DataType propagate_to_parent_node(se::OctantBase* octant_ptr,
                                                  const timestamp_t timestamp);
 
template<typename BlockT>
void propagate_block_to_coarsest_scale(se::OctantBase* octant_ptr);
 
template<typename BlockT>
void propagate_block_to_scale(se::OctantBase* octant_ptr, int desired_scale);
 
template<typename BlockT>
void propagate_block_down_to_scale(se::OctantBase* octant_ptr, int desired_scale);
} // namespace ray_integrator
 
} // namespace se
 
#include "impl/ray_integrator_core_impl.hpp"
 
#endif //SE_RAY_INTEGRATOR_CORE_HPP